ROBOTS IN RADIOACTIVE ENVIRONMENTS.

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2 INTRODUCTIONIn a critical place such as a nuclear power plant , where the manual work is quite difficult the application of robots are really worth mentioning.Robots are used to prevent exposure of humans to radiations in Nuclear Power plants

3 CONCEPT Webster’s dictionary definition“An automatic device that performs functions ordinarily described to human beings”Robotic Institute of America definition“It is a reprogrammable multifunctional manipulator designed to move materials, parts, tools etc through variable programmed motion of the performance of a variety of tasks

5 MINIMIZE HUMAN EXPOSURERisk of contamination which is accidentalIrradiation affects operators work areasProfessional workers are few in number and require years of experienceInternational laws exist which limit the max exposure rate of workersReduce working time and increase maintenance cost

6 PREVENTIVE MAINTENANCE AND UNFORSEEN INCIDENTSPeriodic maintenance requireCareful preparationSafetyWell known working environmentPrepared using a full scale mockupFor telerobotics there isGeometric model of the remote siteMission is programmedOperates in supervision mode

11 TELEOPERATION PLATFORMNew platform developed using Hewlett Packard UX operating systemLocal area network connects with teleoperation platform with robot control unitGraphic models of arm, loader, tube sheet & channel head was developed using ROBCAD

12 Critical & Needs careful programming The Sequence of observation made by the operator when robot is loaded at tube sheet of SGCritical & Needs careful programmingArm should be manually inserted in the channel head through a narrow man way

13 One inside the RQC is attached to a loaderHence the cinematic tree is invertedOperator moves the loaderArm should perform a predefined motion scheme

14 After last motion the arm base should beperfectly aligned with the tube sheetOperator moves the base until the camlocks are inside the anchor tubes and expand them

17 PARTS OF EDMRemote Quick Connector (RQC) to attach to robot end, a fixed platform where vision are installed

18 CONTD….Potentiometer for alignment with the tubesheet & Camlocks for anchoring to itCommands are provided to fit & activate EDH, to fit intensity and voltage parameters and to load and unload the tool

19 REMOVAL OF FALLEN OBJECTS IN PRIMARY CKT NOZZLEObjects may fall inside primary nozzle during maintenance operation, if dam not installedNecessary to develop special tools.Tools are handled by jumpers from channel head nozzle so accumulated doses are high